Feature/real arm urdf import - #7
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Added instructions for building and launching the robot simulation.
…rm_demo_v2" This reverts commit 723cb03.
…to waybionic_arm_demo_v2 # Conflicts: # waybionic_description/CMakeLists.txt
…he arm in order to position the arm correctly
Waybionic arm demo v2 merge into feature/real-arm-urdf-import
…-import Rebasing main onto feature/real-arm-urdf-import
yassinsolim
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yassinsolim
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I tested this in Ubuntu 24.04 with ROS Jazzy. After manually resolving the current merge conflict, all three packages built, all 27 tests passed, check_urdf passed, and RViz loaded the model without missing-mesh errors.
I am requesting changes before merge:
Merge or rebase current main and resolve display.launch.py. Keep the current model-loading logic from main and change its default model to full_arm_mar24.urdf.
Fix the joint model or correct the documentation. Right now only joint3 moves, while joint1, joint2, and joint4 are fixed. The documentation currently describes four revolute joints.
Remove the unused STL exports. The PR adds 95 STL files, but the URDF only references base_link.STL, shoulder.STL, elbow.STL, forearm.STL, and wrist.STL. The other 90 files add about 37.74 MiB and should not be included in the clean repository.
Rewrite or remove the outdated model documentation. It currently references assembled.launch.py, test_all.launch.py, waybionic_assembled.urdf, test_all_meshes.urdf, and backup files that are not included.
Confirm whether March 24 or May 26 is the accepted CAD revision. The imported model and the mechanical-team request currently disagree.
Add a massless root or world link and verify the base inertia. KDL currently warns that it ignores inertia on the root base_link.
The visualization itself works. Once the branch is cleaned up and the model and documentation agree, it should be ready to merge.
…-import # Conflicts: # waybionic_bringup/launch/display.launch.py
5 participants
Finished rendering the arm and enabled joint movement via RViz. URDF file is included, and the .bak files have been cleaned up.
Video of Demo: https://youtu.be/xBz2U8d-bfE